Bagging and loading production line

Abstract

The utility model discloses a bag opening and feeding production line which comprises a packaging bag storing and conveying system, a friction type bag opening system, a mechanical arm type four-rod bag opening system, a feeding system and a PLC (programmable logic controller) control system. The friction type bag opening system is used for opening a packaging bag through pressure generated when the friction type bag opening system makes contact with the packaging bag and friction force generated by fixed-axis rotation of the mechanical arm, the mechanical arm type four-rod bag opening system is used for stretching into the bag to open the packaging bag, and the charging system is used for grabbing and releasing materials with gas stamping as power. According to the bag opening and feeding production line, bag opening and feeding work can be carried out on packaging bags of any size within the working range, limitation on the sizes of the packaging bags is reduced, and limitation on packaging bag materials is broken through.

Description

Technical Field

[0001] The utility model relates to the technical field of assembly line type automatic bag opening and filling production line, in particular to a bag opening and filling production line. Background Art

[0002] With the transformation and upgrading of the domestic food manufacturing industry, the bagging and filling line, as an important tool to improve production efficiency and product quality, is gaining more and more attention and application from enterprises. The rising labor costs and the higher requirements for product quality have made enterprises more inclined to adopt automated bagging and filling lines to replace traditional manual operations. However, the current automated bagging and filling lines are highly homogenized and have high requirements for the material properties of packaging bags. Summary of the invention

[0003] In order to solve the above technical problems, the utility model provides a bag opening and filling production line, which can realize highly automated assembly line bag opening and filling work for food packaging bags of various materials and sizes within a working range.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a bag opening and loading production line, comprising a packaging bag storage and conveying system, a friction bag opening system, a mechanical arm type four-rod bag supporting system, a loading system and a PLC control system, wherein the friction bag opening system is connected to the packaging bag storage and conveying system and the mechanical arm type four-rod bag supporting system, the loading system is connected to the mechanical arm type four-rod bag supporting system, the packaging bag storage and conveying system, the friction bag opening system, the mechanical arm type four-rod bag supporting system and the loading system are all connected to the PLC control system, the packaging bag storage and conveying system is used for storing and conveying packaging bags, the friction bag opening system is used for opening the packaging bags by the pressure when in contact with the packaging bags and the friction force generated by the fixed-axis rotation of the mechanical arm, the mechanical arm type four-rod bag supporting system is used for penetrating into the bags to open the packaging bags, and the loading system is used for grabbing and releasing materials by using gas punching as a power.

[0006] Further, the packaging bag storage and conveying system includes an operation table, a bottom plate, a brush roller shaft, brush rollers, a brush belt, a brush motor, a left brush holder, a right brush holder a, a brush holder b, a roller tension pulley, a roller transverse track, a roller transverse motor, a roller transverse pulley, a roller transverse belt, a transverse moving bracket, a pulley bracket, a roller longitudinal track, a roller longitudinal motor, a roller transverse motor bracket, and a roller longitudinal belt. The friction bag opening system, the robotic four-bar bag support system, the loading system, and the PLC control system are all arranged on the operation table. The front end of the bottom plate is tilted upward and has an angle with the operation table, and the rear end of the bottom plate is parallel to the plane of the operation table. The brush rollers are installed on the brush roller shaft. The left end of the brush roller shaft is connected to the brush belt, and the brush motor is connected to the brush belt and installed on the left brush holder. The right end of the brush roller shaft is connected to the right brush holder a, and the right brush holder a is connected to the right brush holder b. Three roller tension pulleys are installed on both the right brush holder a and the right brush holder b. The right brush holder a and the right brush holder b can clamp the middle roller longitudinal track and are tightly connected in fit with the roller longitudinal belt. The roller longitudinal belt is connected in fit with the roller longitudinal track. The right brush holder b is installed with the roller longitudinal motor. The bottom ends of the two roller longitudinal tracks are installed on the upper ends of the two transverse moving brackets. The middle parts of the two roller longitudinal tracks clamp the roller transverse belt. The lower ends of the two roller longitudinal tracks are nested and installed with the roller transverse track. A pulley bracket is fixedly installed at the left end of the roller transverse track, and a roller transverse motor bracket is fixedly installed at the right end of the roller transverse track. A roller transverse motor is fixedly installed on the roller transverse motor bracket. A roller transverse belt is installed between the pulley bracket and the roller transverse motor. The roller transverse motor drives the roller transverse belt to rotate.

[0007] Further, the friction type bag opening system includes a bag rubbing robotic arm, a rotating fixed-axis gear train gear a, a rotating fixed-axis gear train gear b, a rotating motor, a bag rubbing moving upper plate, a rising gear, a rising rack, a rising motor, a bag rubbing moving lower plate, rollers, bag rubbing longitudinal rubbing wheels, a left gantry, a right gantry, a bag rubbing transverse motor, a bag rubbing transverse track, a bag rubbing transverse belt, a transverse support plate, a bag rubbing longitudinal motor, a bag rubbing longitudinal track, and a bag rubbing longitudinal belt. The top of the bag rubbing robotic arm is connected to the rotating fixed-axis gear train gear a, the middle of the bag rubbing robotic arm is connected to the bag rubbing moving upper plate. The rotating fixed-axis gear train gear a meshes with the rotating fixed-axis gear train gear b to form a fixed-axis gear train. The rotating fixed-axis gear train gear b is installed on the rotating motor, and the rotating motor is installed on the bag rubbing moving upper plate. The bag rubbing moving upper plate is connected to the rising rack, and the rising rack meshes with the rising gear installed on the rising motor. Four of the rollers and two of the bag rubbing longitudinal rubbing wheels are installed on the bag rubbing moving lower plate. The bag rubbing longitudinal rubbing wheels are rotatably installed on the bag rubbing longitudinal track. The left end of the bag rubbing longitudinal track is connected to the left gantry, and the right end of the bag rubbing longitudinal track is connected to the right gantry. The bag rubbing longitudinal belt is wrapped around the bag rubbing longitudinal track, and the two bag rubbing longitudinal rubbing wheels are in contact with the bag rubbing longitudinal belt. Both the left gantry and the right gantry are installed on the transverse support plate. The transverse support plate is connected to the four rollers at the bottom. The bag rubbing transverse belt clamps the bag rubbing transverse track and is tightly attached to the paper rubbing transverse belt.

[0008] Further, the robotic arm type four-bar bag supporting system includes four-bar robotic arms, robotic arm driving motors, robotic arm mounting boxes, mounting box rotating motors, double-motor support plates, bag supporting transverse motors, bag supporting transverse tracks, bag supporting cable motors, cables, and bag supporting longitudinal tracks. The number of the four-bar robotic arms is four and they are respectively installed on the robotic arm mounting boxes. Each of the four-bar robotic arms is respectively installed with the robotic arm driving motors. The four-bar robotic arms can extend into the friction type bag opening system and use the rubber heads of the bag rubbing robotic arms to cause friction and folding of the bag mouth deformation of the packaging bag. Four rollers are installed on each of the left and right sides of the robotic arm mounting box. The four rollers on each side are rotatably installed on the bag supporting longitudinal track. The bottom end of the bag supporting longitudinal track is installed with a double-motor support plate. The double-motor support plate is installed with the bag supporting transverse motor and the bag supporting cable motor. The double-motor support plate is equipped with four rollers. The rollers are slidably installed on the bag supporting transverse track. The cable bypasses the bag supporting longitudinal track and is connected to the robotic arm mounting box.

[0009] Further, the loading system includes a loading support column, a loading robotic arm, a loading robotic arm motor, a loading air cylinder, a loading cylinder mechanical rod, an air duct, an air pump for the cylinder, a mechanical claw, a mechanical claw gear, a mechanical claw motor, a conveyor belt, and a conveyor belt motor. The loading robotic arm is installed at the top of the loading support column. The loading robotic arm motor is installed on the loading robotic arm. The loading air cylinder is installed at the top of the loading robotic arm. The loading cylinder mechanical rod is installed inside the loading air cylinder. The air duct is provided at the top of the loading cylinder. The air duct connects the loading cylinder with the air pump for the cylinder. The air pump for the cylinder fills or sucks out gas into the loading cylinder and drives the longitudinal up-and-down movement of the loading cylinder mechanical rod inside the loading air cylinder. The mechanical claw, the mechanical claw gear, and the mechanical claw motor are all installed on the loading cylinder mechanical rod. The mechanical claw has a gear structure. The mechanical claw is connected to the mechanical claw motor. The mechanical claw gear is connected to the loading cylinder mechanical rod. The conveyor belt is provided below the mechanical claw. The conveyor belt motor is provided on the side of the conveyor belt.

[0010] In summary, the beneficial effects of the present utility model are as follows: The open-bag loading production line of the present utility model can perform open-bag loading operations on packaging bags of any size within the working range, reducing the limitation on the size of the packaging bags, breaking through the limitation of the packaging bag materials, and any packaging bag made of any material can be used for open-bag loading, realizing the automation of food or material packaging. While greatly reducing the labor intensity of workers, it also significantly improves the classification efficiency and classification quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic structural diagram of the open-bag loading production line of the present utility model;

[0012] Figure 2 is Figure 1 a schematic structural diagram of the packaging bag storage and conveying system of the shown open-bag loading production line;

[0013] Figure 3 is Figure 1 a schematic structural diagram of the bag rubbing robotic arm mechanism in the friction-type open-bag system of the shown open-bag loading production line;

[0014] Figure 4 is Figure 1 a schematic structural diagram of the friction-type open-bag system of the shown open-bag loading production line;

[0015] Figure 5 is Figure 1 a schematic structural diagram of the robotic arm-type four-bar bag support system of the shown open-bag loading production line;

[0016] Figure 6 is Figure 1Partial structural schematic diagram of the loading system of the open-bag loading production line shown;

[0017] Figure 7 For Figure 1 Structural schematic diagram of the loading system of the open-bag loading production line shown;

[0018] In the figure: 1 - operating platform, 2 - bottom plate, 3 - brush roller shaft, 4 - brush roller, 5 - brush roller belt, 6 - brush roller motor, 7 - left brush roller frame, 8 - right brush roller frame a, 9 - right brush roller frame b, 10 - roller tensioning wheel, 11 - roller transverse track, 12 - roller transverse motor, 13 - roller transverse pulley, 14 - roller transverse belt, 15 - transverse moving bracket, 16 - pulley bracket, 17 - roller longitudinal track, 18 - roller longitudinal motor, 19 - roller transverse motor bracket, 20 - roller longitudinal belt, 21 - bag rubbing robotic arm, 22 - rotating fixed-axis gear train gear a, 23 - rotating fixed-axis gear train gear b, 24 - rotating motor, 25 - bag rubbing moving upper plate, 26 - rising gear, 27 - rising rack, 28 - rising motor, 29 - bag rubbing moving lower plate, 30 - roller, 31 - bag rubbing longitudinal rubbing wheel, 32 - left gantry, 33 - right gantry, 34 - bag rubbing transverse motor, 35 - bag rubbing transverse track, 36 - bag rubbing transverse belt, 37 - transverse support plate, 38 - bag rubbing longitudinal motor, 39 - bag rubbing longitudinal track, 40 - bag rubbing longitudinal belt, 41 - four-bar robotic arm, 42 - robotic arm drive motor, 43 - robotic arm mounting box, 44 - mounting box rotating motor, 45 - double-motor support plate, 46 - bag supporting transverse motor, 47 - bag supporting transverse track 48 - bag supporting cable motor 49 - cable 50 - bag supporting longitudinal track, 52 - loading robotic arm, 53 - loading robotic arm motor, 54 - loading cylinder, 55 - loading cylinder mechanical rod, 58 - mechanical claw, 59 - mechanical claw gear, 60 - mechanical claw motor, 51 - loading support rod, 56 - air duct, 57 - cylinder air pump, 61 - conveyor belt, 62 - conveyor belt motor. Detailed implementation manners

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below. Obviously, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0020] Please refer to Figures 1-7The utility model provides a bag opening and loading production line, including a packaging bag storage and conveying system, a friction bag opening system, a mechanical arm type four-rod bag supporting system, a loading system and a PLC control system. The friction bag opening system is connected to the packaging bag storage and conveying system and the mechanical arm type four-rod bag supporting system, the loading system is connected to the mechanical arm type four-rod bag supporting system, the packaging bag storage and conveying system, the friction bag opening system, the mechanical arm type four-rod bag supporting system and the loading system are all connected to the PLC control system, the packaging bag storage and conveying system is used to store and convey packaging bags, the friction bag opening system is used to open the packaging bag through the pressure when in contact with the packaging bag and the friction force generated by the fixed-axis rotation of the mechanical arm, the mechanical arm type four-rod bag supporting system is used to expand into the bag to open the packaging bag, and the loading system is used to grab and release materials through gas punching as power.

[0021] See also Figure 2, the packaging bag storage and conveying system includes an operating platform (1), a bottom plate (2), a brush roller shaft (3), brush rollers (4), a brush belt (5), a brush motor (6), a left brush holder (7), a right brush holder a (8), a brush holder b (9), a roller tension pulley (10), a roller transverse track (11), a roller transverse motor (12), a roller transverse pulley (13), a roller transverse belt (14), a transverse moving bracket (15), a pulley bracket (16), a roller longitudinal track (17), a roller longitudinal motor (18), a roller transverse motor bracket (19), and a roller longitudinal belt (20). Specifically, the operating platform is the operation platform of the entire system, and the friction bag opening system, the robotic arm type four-bar bag supporting system, the loading system, and the PLC control system all work on the operating platform. The front end of the bottom plate (2) tilts upward, forming a 10-degree angle with the operating platform (1). Food packaging bags are stacked on the tilted part, and the rear end is parallel to the plane of the operating platform (1) to cooperate with the friction bag opening system. The brush rollers (4) are installed on the brush roller shaft, and the left end of the brush roller shaft (3) is connected to the brush belt (5). The brush motor (6) is connected to the brush belt and installed on the left brush holder (9). The brush motor (6) is connected to the PLC control system, and the PLC control system controls the brush motor to start, driving the brush belt, and the brush belt then drives the brush roller shaft and the brush rollers to rotate. The right end of the brush roller shaft is connected to the right brush holder a (8), and the right brush holder a (8) is connected to the right brush holder b (9). The right brush holder a (8) and the right brush holder b (9) are equipped with three roller tension pulleys (10) that clamp the middle roller longitudinal track (17), and there is a roller longitudinal belt (20) attached and tensioned. The roller longitudinal belt (20) is also attached to and connected to the roller longitudinal track (17). The right brush holder b (9) is equipped with a roller longitudinal motor (18), and the roller longitudinal motor (18) is connected to the PLC control system. The PLC control system controls the rotation of the roller longitudinal motor, driving the roller tension pulley (10) to rotate, and relying on the friction force caused by the tension to drive the rotation of the roller tension pulley (10) to realize the overall longitudinal up and down movement of the brush mechanism formed by the left brush holder (7), the brush motor (6), the brush belt (5), the brush roller shaft (3), the brush rollers (4), the right brush holder a (8), and the right brush holder b (9). The bottom ends of the two roller longitudinal tracks (17) are installed at the upper ends of the two transverse moving brackets (15), the middle parts clamp the roller transverse belt (14), and the lower ends are nested and installed with the roller transverse track (11). The left end of the roller transverse track is fixedly installed with a pulley bracket (16), and the right end is fixedly installed with a roller transverse motor bracket (19).A roller lateral motor (12) is fixedly installed on a roller lateral motor bracket (19). A roller lateral belt (14) is installed between a pulley bracket (16) and the roller lateral motor (12). The roller lateral motor (12) is connected to a PLC control system. The PLC control system controls the start of a roller longitudinal motor (12). The roller lateral motor (12) drives the roller lateral belt (14) to rotate. Since a lateral movement bracket (15) clamps the roller lateral belt (14), the roller lateral belt (14) drives the lateral movement bracket (15) and a roller longitudinal track (17) installed at its upper end and the front and rear lateral movement of a brush mechanism. Thus, the brush mechanism can achieve lateral, longitudinal, up, down, front and rear movement. The food packaging bags stacked on the bottom plate are rolled and rubbed to the working area of a friction type bag opening system.

[0022] Please refer to Figure 3 and Figure 4, the friction bag-opening system includes a bag-rubbing robotic arm (21), a fixed-axis rotation gear train gear a (22), a fixed-axis rotation gear train gear b (23), a rotation motor (24), a bag-rubbing moving upper plate (25), a rising gear (26), a rising rack (27), a rising motor (28), a bag-rubbing moving lower plate (29), rollers (30), a bag-rubbing longitudinal rubbing wheel (31), a left gantry (32), a right gantry (33), a bag-rubbing transverse motor (34), a bag-rubbing transverse track (35), a bag-rubbing transverse belt (36), a transverse support plate (37), a bag-rubbing longitudinal motor (38), a bag-rubbing longitudinal track (39), and a bag-rubbing longitudinal belt (40). The bottom end of the bag-rubbing robotic arm (21) is made of rubber material, which can generate a large frictional force when contacting with the food packaging bag. The top end of the bag-rubbing robotic arm (21) is connected to the fixed-axis rotation gear train gear a (22), and the middle part of the bag-rubbing robotic arm (21) is connected to the bag-rubbing moving upper plate (25). The fixed-axis rotation gear train gear a (22) meshes with the fixed-axis rotation gear train gear b (23) to form a fixed-axis gear train. The fixed-axis rotation gear train gear b (23) is installed on the rotation motor (24), and the rotation motor is installed on the bag-rubbing moving upper plate (25). The rotation motor (24) is connected to the PLC control system. The PLC control system controls the rotation motor to start. The rotation motor drives the meshing transmission of the fixed-axis gear train, driving the bag-rubbing robotic arm (21) to rotate axially within a 120-degree rotation range. The bag-rubbing moving upper plate (25) is connected to the rising rack (27), and the rising rack (27) meshes with the rising gear (26). The rising gear (26) is installed on the rising motor (28). The rising motor (28) is installed on the bag-rubbing moving lower plate (29) and is connected to the PLC control system. The PLC control system controls the rising motor to start. The rising motor drives the rising gear to mesh with the rising rack, driving the bag-rubbing moving upper plate (25) to rise or fall within a range of 550 mm. Thus, the above components form a bag-rubbing robotic arm mechanism. Four rollers (30) and two bag-rubbing longitudinal rubbing wheels (31) are installed on the bag-rubbing moving lower plate (29). The bag-rubbing longitudinal rubbing wheels are installed on the bag-rubbing longitudinal track (39) in a rolling manner. The left end of the bag-rubbing longitudinal track (39) is connected to the left gantry (32), and the right end is connected to the right gantry (33). The bag-rubbing longitudinal track (39) is installed between the left gantry (39) and the right gantry (33). The bag-rubbing longitudinal belt (40) wraps around the bag-rubbing longitudinal track (39) and is also installed between the left gantry (32) and the right gantry (33). The two bag-rubbing longitudinal rubbing wheels (31) are in contact with the bag-rubbing longitudinal belt (40). A bag-rubbing longitudinal motor (38) is installed on the upper right of the gantry and is connected to the PLC control system. The PLC control system controls the bag-rubbing longitudinal motor (38) to start. The bag-rubbing longitudinal motor (38) drives the bag-rubbing longitudinal belt (40) to rotate. Due to the frictional force generated by the contact between the bag-rubbing longitudinal rubbing wheels (31) and the bag-rubbing longitudinal belt (40), the bag-rubbing moving lower plate (29) and the entire bag-rubbing robotic arm mechanism are driven to move longitudinally.The left gantry (32) and the right gantry (33) are both installed on the transverse support plate (37). The lower part of the transverse support plate (37) is connected and installed with four rollers (30). The bag rubbing transverse belt (36) clamps the bag rubbing transverse track (35) and is attached and tensioned with the paper rubbing transverse belt (36). A bag rubbing transverse motor (40) is installed on the transverse support plate (37) and is connected to the PLC control system. The PLC control system controls the start of the paper rubbing transverse motor. The bag rubbing transverse motor (40) drives the four rollers (30) to rotate, and drives the rollers (30) to move horizontally on the bag rubbing transverse belt (36) by relying on the friction force caused by tension, thereby driving the transverse support plate (37) and other components installed on the transverse support plate (37) to move horizontally left and right. In summary, the bag rubbing robotic arm mechanism realizes longitudinal and transverse movements, and the mechanism can also move up and down, driving the bag rubbing robotic arm mechanism to rotate. The friction type bag opening system has a total of two bag rubbing robotic arm mechanisms with the same structure and function. The two bag rubbing robotic arms (21) come into contact with a single-folded food packaging bag that is stored and transported by the packaging bag storage and transmission system and is conveyed to the horizontal part of the bottom plate through rolling friction. And the bag mouth of the packaging bag faces the robotic arm type four-bar bag supporting system to the right, as. Figure 4 shown. Then, it rotates in the opposite direction, and uses the friction caused by the rubber head of the paper rubbing robotic arm and the deformation of the bag mouth of the folded packaging bag to open the bag mouth of the packaging bag.

[0023] Please refer to Figure 5, the robotic arm type four-bar bag support system includes four-bar robotic arms (41), robotic arm drive motors (42), robotic arm mounting boxes (43), mounting box rotation motors (44), double-motor support plates (45), bag support transverse motors (46), bag support transverse tracks (47), bag support cable motors (48), cables (49), and bag support longitudinal tracks (50). There are four four-bar robotic arms (41) which are respectively installed on the robotic arm mounting box (43). Each four-bar robotic arm (41) is respectively installed with a robotic arm drive motor (42) and is arranged in a rectangular pattern. One end of the four-bar robotic arm (41) is a thin rod with a length of 550 mm, which can penetrate into the frictional bag opening system to utilize the friction caused by the rubber head of the bag rubbing robotic arm (21) and the deformation of the bag mouth of the folded packaging bag to realize the opening of the packaging bag mouth. On both sides of the robotic arm mounting box, there are mounting box rotation motors (44) connected to the PLC control system. The PLC control system controls the mounting box rotation motors (44) to drive the robotic arm mounting box (43) and the four-bar robotic arms (41) to rotate within a range of 180 degrees. On the left and right sides of the robotic arm mounting box (43), there are four rollers each. The four rollers on each side are rollingly installed on the bag support longitudinal tracks (50). At the bottom of the bag support longitudinal tracks (50), there is a double-motor support plate (45). The double-motor support plate (45) is installed with a bag support transverse motor (46) and a bag support cable motor (48). The double-motor support plate (45) is equipped with four rollers (30), and the rollers are slidably installed on the bag support transverse tracks (47). The bag support transverse motor (47) is connected to the PLC control system. The PLC control system controls the bag support transverse motor to drive the double-motor support plate (45), and various parts and components installed on the double-motor support plate (45) to move horizontally. The bag support cable motor (48) installed on the double-motor support plate (45) is connected to the PLC control system. The PLC control system controls the rotation of the rotation shaft of the bag support cable motor (48) to wind and release the cable (49). The cable (49) bypasses the columnar rod at the top of the bag support longitudinal track (50) and is bundled and connected to the robotic arm mounting box (43). The robotic arm mounting box (43) is suspended by the cable (49) to realize the vertical up and down movement of the whole mechanism composed of the robotic arm mounting box (43), the four-bar robotic arms (41), and the mounting box rotation motors (44). When the frictional bag opening system frictions out the opening of the packaging bag mouth, the robotic arm type four-bar bag support system, through the above movement principle, inserts the thin rod of the four-bar robotic arm (41) into the opening of the packaging bag mouth, and then the four four-bar robotic arms (41) start to stretch to completely open the packaging bag. After opening, the system moves again to place the bag mouth upward and the bag bottom toward the operation table, and the four-bar robotic arms (41) move the packaging bag to a suitable position to facilitate the feeding work of the next feeding system.

[0024] Please refer to Figure 6 and Figure 7, the loading system includes a loading support column (51), a loading robotic arm (52), a loading robotic arm motor (53), a loading air cylinder (54), a loading cylinder mechanical rod (55), an air duct (56), an air pump for the cylinder (57), a mechanical claw (58), a mechanical claw gear (59), a mechanical claw motor (60), a conveyor belt (61), and a conveyor belt motor (62). The entire system mainly uses the loading support column (51) as the main body. The loading robotic arm (52) is installed at the top of the loading support column (51). A loading robotic arm motor (53) is installed on the loading robotic arm (52) and is connected to the PLC control system, which controls the loading robotic arm motor (53). A loading air cylinder (54) is installed at the top of the loading robotic arm (51). A loading cylinder mechanical rod (55) is installed inside the cylinder. An air duct (56) is at the top of the loading cylinder (54). The air duct (56) connects the loading cylinder (54) to the air pump for the cylinder (57). The air pump for the cylinder (57) fills or sucks out gas into the loading cylinder (54) to drive the longitudinal up and down movement of the loading cylinder mechanical rod (55) inside the loading air cylinder (54). The mechanical claw (58), the mechanical claw gear (59), and the mechanical claw motor (60) are all installed on the loading cylinder mechanical rod (55). The mechanical claw (58) has a gear structure. The mechanical claw (58) is connected to the mechanical claw motor (60), and the mechanical claw gear (59) is also connected to the loading cylinder mechanical rod (55) and meshes with each other to form a fixed-axis gear train. The mechanical claw motor (60) is connected to the PLC control system, which controls the mechanical claw motor (60) to drive the mechanical claw (58) to move and grab the loading materials to be put into the packaging bag. There is a conveyor belt (61) installed on the operating platform below the mechanical claw (58). The conveyor belt (61) is equipped with a conveyor belt motor (62) that is connected to the PLC control system, and the PLC control system controls the conveyor belt motor (62) to drive the conveyor belt to roll. In summary, when the mechanical arm type four-bar bag-supporting system in the loading system spreads open the packaging bag and moves the packaging bag to a suitable position, the mechanical claw (60) grabs the materials and places the materials into the spread-open packaging bag. After completing the loading work, the four-bar robotic arm of the mechanical arm type four-bar bag-supporting system contracts, releases the packaging bag filled with materials onto the conveyor belt, and conveys it to the designated position, completing the work cycle of the entire assembly-line type automatic bag-opening and loading device.

[0025] Specifically, the rising motor is connected and cooperates with the rising gear. The rising gear is installed on one side of the bag-rubbing moving upper plate, and the rising rack meshes with the rising gear. To achieve the rising or falling of the bag-rubbing moving upper plate within the range of 55 mm, controlling the contact and separation from the packaging bag.

[0026] Specifically, the rotating motor is installed on the upper plate of the bag rubbing and moving mechanism. The rotating fixed-axis gear train gear b is connected and cooperated with the rotating motor, and the rotating fixed-axis gear train gear a is connected and cooperated with the bag rubbing robotic arm. The rotating fixed-axis gear train gear b and the rotating fixed-axis gear train gear a are meshed and installed to realize the rotation of the bag rubbing robotic arm within a range of 120 degrees.

[0027] Specifically, the four-bar robotic arm is installed on the robotic arm mounting box, which can realize the bag supporting action of the four-bar robotic arm.

[0028] Specifically, a loading cylinder mechanical rod is installed inside the loading cylinder. The air duct is connected to the loading cylinder and the cylinder air pump to control the up and down movement of the loading cylinder mechanical rod based on the pneumatic principle.

[0029] Among them, the bag opening and loading function of the assembly-line type automatic bag opening and loading device is mainly achieved by the cooperation of the packaging bag storage and transmission system, the friction type bag opening system, the robotic arm type four-bar bag supporting system, the loading system, and the PLC control system. The packaging bag storage and transmission system is used to store the folded packaging bags to be opened and transmit the packaging bags. The stacked folded packaging bags are placed on the bottom plate of the system with the bag opening facing right. Then, the rolling brush rollers moving from high to low contact the stacked folded packaging bags, and using the friction force, the folded packaging bags are rolled and rubbed one by one onto the bottom plate of the friction type bag opening system. The friction type bag opening system has two bag rubbing robotic arms, which contact the folded packaging bags rolled and rubbed onto the bottom plate of this system by the packaging bag storage and transmission system and perform reverse fixed-axis angle rotation. The pressure during contact, the friction force generated by the fixed-axis rotation of the robotic arm, and the deformation of the packaging bag mouth form the bag opening of the packaging bag. The robotic arm type four-bar bag supporting system uses this opening as a breakthrough to open the bag. The robotic arm type four-bar bag supporting system is composed of four identical four-bar robotic arms arranged in a rectangle. There is a long bag supporting thin rod at the top of each robotic arm. The four bag supporting thin rods are tightly arranged in a rectangle before the bag supporting work. When the friction type bag opening system rubs the packaging bag to form a bag opening, the four bag supporting thin rods arranged in a rectangle will penetrate into the bag opening, and then the four-bar robotic arm controls the bag supporting thin rods to move horizontally and vertically to completely open the packaging bag. The loading system mainly consists of the loading robotic arm and the mechanical claw, and is equipped with a cylinder air pump. Using gas punching as the power, it realizes the grasping and releasing of materials by the mechanical claw. When the robotic arm type four-bar bag supporting system turns the bag mouth of the packaging bag upward and moves it to a suitable position, the loading robotic arm starts to work, grasps the material and puts it into the packaging bag. After the placement is completed, the robotic arm type four-bar bag supporting system releases the packaging bag filled with materials onto the conveyor belt and conveys it to the designated position, completing the working cycle of the entire assembly-line type automatic bag opening and loading device.

[0030] When the device is started, the packaging bag storage and conveying system in the device rotates the roller brush roller to convey a single packaging bag placed on the bottom plate to the bottom plate below the friction bag opening system, and the bag mouth opening of the packaging bag is formed by the friction of the bag rubbing robotic arm. After the opening is formed, the top thin rod structure of the four-bar robotic arm of the robotic arm type four-bar bag supporting system penetrates into the bag mouth opening of the packaging bag, and then the packaging bag is completely opened. After the packaging bag is opened, the robotic arm type four-bar bag supporting system moves the packaging bag to a suitable position, the mechanical claw in the loading system grabs the material and places the material in the packaging bag. After the loading is completed, the robotic arm type four-bar bag supporting system releases the packaging bag onto the conveyor belt and conveys it to the designated position, and the device completes the work cycle.

[0031] The bag opening and loading production line of the present utility model can perform bag opening and loading operations on packaging bags of any size within the working range, reduce the limitation on the size of the packaging bag, break through the limitation of the packaging bag material, and any material packaging bag can be used for bag opening and loading, realizing the automation of food or material packaging. While greatly reducing the labor intensity of workers, it also greatly improves the classification efficiency and classification quality.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and not to limit the protection scope of the present utility model. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present utility model.

Claims

1. An open-bag loading production line, characterized in that, It includes a packaging bag storage and conveying system, a friction bag opening system, a mechanical arm type four-rod bag supporting system, a charging system and a PLC control system. The friction bag opening system is connected to the packaging bag storage and conveying system and the mechanical arm type four-rod bag supporting system, and the charging system is connected to the mechanical arm type four-rod bag supporting system. The packaging bag storage and conveying system, the friction bag opening system, the mechanical arm type four-rod bag supporting system and the charging system are all connected to the PLC control system. The packaging bag storage and conveying system is used to store and convey packaging bags. The friction bag opening system is used to open the packaging bag through the pressure when in contact with the packaging bag and the friction force generated by the fixed-axis rotation of the mechanical arm. The mechanical arm type four-rod bag supporting system is used to penetrate into the bag to open the packaging bag. The charging system is used to grab and release materials through gas punching as power.

2. The open-bag loading production line according to claim 1, characterized in that, The packaging bag storage and conveying system includes an operating table, a bottom plate, a roller brush shaft, a roller brush roller, a roller brush belt, a roller brush motor, a left roller brush frame, a right roller brush frame a, a roller brush frame b, a roller tensioning wheel, a roller transverse track, a roller transverse motor, a roller transverse pulley, a roller transverse belt, a transverse moving bracket, a pulley bracket, a roller longitudinal track, a roller longitudinal motor, a roller transverse motor bracket and a roller longitudinal belt. The friction bag opening system, the mechanical arm four-rod bag supporting system, the loading system and the PLC control system are all arranged on the operating table. The front end of the bottom plate is tilted upward and has an angle with the operating table. The rear end of the bottom plate is parallel to the plane of the operating table. The roller brush roller is installed on the roller brush shaft. The left end of the roller brush shaft is connected to the roller brush belt. The roller brush motor is connected to the roller brush belt and is installed on the upper left of the roller brush frame. The right end of the roller brush shaft is connected to the right a of the roller brush frame. The right a of the roller brush frame is connected to the roller brush frame. The right b is connected, the right a of the roller brush frame and the right b of the roller brush frame are both equipped with three roller tensioning wheels, the right a of the roller brush frame and the right b of the roller brush frame can clamp the roller longitudinal track in the middle and be tightly connected with the roller longitudinal belt, the roller longitudinal belt is tightly connected with the roller longitudinal track, the right b of the roller brush frame is equipped with the roller longitudinal motor, the bottom ends of the two roller longitudinal tracks are installed on the upper ends of the two transverse moving brackets, the middle parts of the two roller longitudinal tracks clamp the roller transverse belts, and the lower ends of the two roller longitudinal tracks are nested with the roller transverse tracks, the left end of the roller transverse track is fixedly installed with a pulley bracket, the right end of the roller transverse track is fixedly installed with a roller transverse motor bracket, the roller transverse motor is fixedly installed on the roller transverse motor bracket, a roller transverse belt is installed between the pulley bracket and the roller transverse motor, and the roller transverse motor drives the roller transverse belt to rotate.

3. The open-bag loading production line according to claim 2, wherein, The friction type bag opening system includes a bag rubbing robotic arm, a rotating fixed-axis gear train gear a, a rotating fixed-axis gear train gear b, a rotating motor, a bag rubbing moving upper plate, a rising gear, a rising rack, a rising motor, a bag rubbing moving lower plate, rollers, a bag rubbing longitudinal rubbing wheel, a left gantry, a right gantry, a bag rubbing transverse motor, a bag rubbing transverse track, a bag rubbing transverse belt, a transverse support plate, a bag rubbing longitudinal motor, a bag rubbing longitudinal track, and a bag rubbing longitudinal belt. The top of the bag rubbing robotic arm is connected to the rotating fixed-axis gear train gear a, the middle of the bag rubbing robotic arm is connected to the bag rubbing moving upper plate. The rotating fixed-axis gear train gear a meshes with the rotating fixed-axis gear train gear b to form a fixed-axis gear train. The rotating fixed-axis gear train gear b is installed on the rotating motor, and the rotating motor is installed on the bag rubbing moving upper plate. The bag rubbing moving upper plate is connected to the rising rack, and the rising rack meshes with the rising gear installed on the rising motor. Four rollers and two bag rubbing longitudinal rubbing wheels are installed on the bag rubbing moving lower plate. The bag rubbing longitudinal rubbing wheels are rotatably installed on the bag rubbing longitudinal track. The left end of the bag rubbing longitudinal track is connected to the left gantry, and the right end of the bag rubbing longitudinal track is connected to the right gantry. The bag rubbing longitudinal belt wraps around the bag rubbing longitudinal track, and the two bag rubbing longitudinal rubbing wheels are in contact with the bag rubbing longitudinal belt. Both the left gantry and the right gantry are installed on the transverse support plate. The lower part of the transverse support plate is connected to the four rollers. The bag rubbing transverse belt clamps the bag rubbing transverse track and is installed in a tightly fitting manner with the bag rubbing transverse belt.

4. The open-bag loading production line according to claim 3, wherein, The robotic arm type four-bar bag supporting system includes a four-bar robotic arm, a robotic arm driving motor, a robotic arm installation box, an installation box rotating motor, a double-motor support plate, a bag supporting transverse motor, a bag supporting transverse track, a bag supporting cable motor, a cable, and a bag supporting longitudinal track. The number of the four-bar robotic arms is four and they are respectively installed on the robotic arm installation box. Each of the four-bar robotic arms is respectively installed with the robotic arm driving motor. The four-bar robotic arms can penetrate into the friction type bag opening system and use the rubber head of the bag rubbing robotic arm to cause friction and folding of the deformation of the bag mouth of the packaging bag. Four rollers are installed on each of the left and right sides of the robotic arm installation box. The four rollers on each side are rotatably installed on the bag supporting longitudinal track. The bottom end of the bag supporting longitudinal track is installed with a double-motor support plate. The double-motor support plate is installed with the bag supporting transverse motor and the bag supporting cable motor. The double-motor support plate is equipped with four rollers. The rollers are slidably installed on the bag supporting transverse track. The cable bypasses the bag supporting longitudinal track and is connected to the robotic arm installation box.

5. The open-bag loading production line according to claim 1, characterized in that, The charging system includes a charging support column, a charging robotic arm, a charging robotic arm motor, a charging air cylinder, a charging cylinder mechanical rod, a trachea, an air cylinder air pump, a mechanical claw, a mechanical claw gear, a mechanical claw motor, a conveyor belt, and a conveyor belt motor. The charging robotic arm is installed at the top of the charging support column. The charging robotic arm motor is installed on the charging robotic arm. The charging air cylinder is installed at the top of the charging robotic arm. The charging cylinder mechanical rod is installed inside the charging air cylinder. The trachea is provided at the top of the charging cylinder. The trachea connects the charging cylinder to the air cylinder air pump. The air cylinder air pump fills or sucks out gas from the charging cylinder and drives the charging cylinder mechanical rod inside the charging air cylinder to move vertically up and down. The mechanical claw, the mechanical claw gear, and the mechanical claw motor are all installed on the charging cylinder mechanical rod. The mechanical claw has a gear structure. The mechanical claw is connected to the mechanical claw motor. The mechanical claw gear is connected to the charging cylinder mechanical rod. The conveyor belt is provided below the mechanical claw. The conveyor belt motor is provided on the side of the conveyor belt.

Images